CN116281687A - Automatic balancing control method for tower crane jacking and tower crane - Google Patents
Automatic balancing control method for tower crane jacking and tower crane Download PDFInfo
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- CN116281687A CN116281687A CN202310352522.7A CN202310352522A CN116281687A CN 116281687 A CN116281687 A CN 116281687A CN 202310352522 A CN202310352522 A CN 202310352522A CN 116281687 A CN116281687 A CN 116281687A
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- jacking
- balancing
- tower crane
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- load
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- 238000009966 trimming Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a tower crane jacking automatic balancing control method and a tower crane, wherein the control method comprises the steps of lifting a proper load according to the current model, arm length and weight state; the jacking balancing moment is selected through the lifted load; according to the required balancing moment and the current load capacity, automatically adjusting the load amplitude; monitoring whether the current weight amplitude parameter is within an allowable range in real time; if the current weight amplitude parameter is larger than the set allowable value, sending out an alarm prompt, and checking and judging by an operator according to the alarm prompt information to determine whether the weight amplitude parameter is further adjusted or whether the balancing requirement is met currently; and when the balancing requirement is met, entering a jacking working mode, and allowing the jacking oil cylinder to act. The invention can freely load a proper load, is not limited to the recommended load capacity, and has stronger field adaptability. The balancing state is monitored through various detection methods, and the load amplitude is automatically adjusted according to the data deviation, so that the balancing machine is more accurate and intelligent.
Description
Technical Field
The invention belongs to the technical field of engineering machinery control, and particularly relates to a tower crane jacking automatic balancing control method and a tower crane.
Background
When the current tower crane carries out jacking balancing, the recommended lifting weight and amplitude are generally given according to the calculated data of the balancing moment of the current tower crane, and the balancing is carried out by manual operation of a driver. And the inclination angle sensor is arranged on part of the tower crane, so that the inclination angle of the crane boom can be detected as a judging basis, or a balancing state is visually observed by an operator with abundant experience, so as to determine whether the balancing requirement is met. If a load with a lifting weight is not recommended on site, there is no way to operate according to the recommended data, and balancing needs to be performed by relying on experience of drivers and operators. And the detection means is single, an inclinometer is generally used or the visual observation is simple, the accuracy is low, and the adjustment balancing guidance for a driver is not enough.
Disclosure of Invention
The embodiment of the invention aims to provide a tower crane jacking automatic balancing control method and a tower crane, which aim to solve the problem that the existing jacking balancing manual operation of the tower crane is inaccurate and further solve the problem that a balancing state detection method is single.
The invention is realized according to the following technical scheme:
in a first aspect, the present invention provides a method for controlling automatic balancing of a tower crane, the method comprising: lifting a proper load according to the current model, arm length and weight state; the jacking balancing moment is selected through the lifted load; according to the required balancing moment and the current load capacity, automatically adjusting the load amplitude; monitoring whether the current weight amplitude parameter is within an allowable range in real time; if the current weight amplitude parameter is larger than the set allowable value, sending out an alarm prompt, and checking and judging by an operator according to the alarm prompt information to determine whether the weight amplitude parameter is further adjusted or whether the balancing requirement is met currently; and when the balancing requirement is met, entering a jacking working mode, and allowing the jacking oil cylinder to act.
In one embodiment, the weight amplitude parameter comprises: current moment, angle of inclination and pin offset.
In one embodiment, the current moment, the inclination angle and the pin deviation are obtained by respectively installing a sleeve frame pin sensor and a lifting pin sensor at the joint of the moment sensor, an inclination angle sensor installed at the top of the tower crane and the sleeve frame and the lower support.
In one embodiment, the monitoring in real time whether the current weight amplitude parameter is within the allowable range specifically includes: firstly, monitoring whether the deviation between the current moment and the trimming moment is in an allowable range or not; and on the basis that the current moment meets the allowable range, monitoring and judging whether the inclination angle and the pin shaft deviation are in the allowable range or not.
In one embodiment, the step of entering the jacking working mode when the balancing requirement is met allows the jacking cylinder to act, specifically: and (3) observing weight amplitude parameter information at a jacking balancing interface of a cab display screen, and allowing the jacking oil cylinder to act by confirming that a balancing button enters a jacking working mode.
In a second aspect, the invention provides a tower crane, and the tower crane is provided with a device for executing the automatic balancing control method for jacking the tower crane.
In a third aspect, the present invention provides a computer device, including a memory and a processor, where the memory stores computer readable instructions that, when executed by the processor, cause the processor to execute the steps of the method for controlling automatic balancing of tower crane jacking described above.
In a fourth aspect, the present invention provides a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the tower crane jacking automatic trim control method described above.
The invention has the beneficial effects that:
1. the device can freely carry a proper load, is not limited to the recommended load capacity, and has stronger field adaptability;
2. the load amplitude is automatically adjusted according to the required balancing moment, so that the method is convenient and quick; the method comprises the steps of carrying out a first treatment on the surface of the
3. The balancing state is monitored by a plurality of detection methods, and the load amplitude is automatically adjusted according to the data deviation, so that the method is more accurate and intelligent;
4. and a clear alarm prompt is given to guide an operator to check and judge and make a final decision, so that the method is more accurate and safer.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort.
FIG. 1 is a flow chart of a method for controlling automatic balancing of a tower crane jacking according to an embodiment of the present invention;
fig. 2 is a flowchart of an implementation of a method for controlling automatic balancing of a tower crane jacking according to a preferred embodiment of the present invention.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Description of the embodiments
The following detailed description of the technical solutions of the present invention is made by the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limiting the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.
The driver manually trims according to the recommended load and magnitude. Whether to trim is determined based on the tilt sensor data and visual observations. The manual operation is troublesome, the specified weight is needed to be hung and operated to a specified range, and if the site does not have the recommended load, the guidance of the recommended balancing is poor. Secondly, trim detection is single, an inclinometer is generally used or simple visual observation is adopted, accuracy is low, and comparison is dependent on experience of operators. Basically, as shown in fig. 1, the present invention provides a method for controlling automatic balancing of a tower crane, which includes the following steps:
in this embodiment, the weight amplitude parameters include: current moment, angle of inclination and pin offset.
Further, the front moment, the inclination angle and the pin deviation are obtained by respectively installing a sleeve frame pin sensor and a lifting pin sensor at the joint of the moment sensor, an inclination angle sensor arranged at the top of the tower crane and the sleeve frame and the lower support.
in the present embodiment, the current weight amplitude parameter is monitored for an allowable range, as shown with reference to figure 2,
the method specifically comprises the following steps: firstly, monitoring whether the deviation between the current moment and the trimming moment is in an allowable range or not; and on the basis that the current moment meets the allowable range, monitoring and judging whether the inclination angle and the pin shaft deviation are in the allowable range or not.
Step S500, if the current weight amplitude parameter is larger than the set allowable value, sending out an alarm reminding, and operating
Personnel check and judge according to the alarm prompt information to determine whether the weight amplitude parameter is further adjusted or whether the balancing requirement is met currently;
and S600, entering a jacking working mode when the balancing requirement is met, and allowing the jacking oil cylinder to act.
In the embodiment of the application, when the balancing requirement is met, the jacking working mode is entered, the jacking cylinder is allowed to act,
the method comprises the following steps: and (3) observing weight amplitude parameter information at a jacking balancing interface of a cab display screen, and allowing the jacking oil cylinder to act by confirming that a balancing button enters a jacking working mode.
The method determines the required balancing moment according to the current model, arm length and counterweight state, can hoist any proper load, and can lift the balancing picture through the display screen to enter an automatic mode, and the automatic adjustment range enters the balancing allowable range. The top of the tower crane is provided with an inclination angle sensor, the joint of the sleeve frame and the lower support is provided with a pin shaft sensor, and the detection data is connected to a PLC (programmable logic controller) of the tower crane. And monitoring whether the current moment is within the allowable range of the trimming moment and the data of the inclination angle sensor and the data of the pin shaft sensor in real time, and automatically adjusting the current amplitude according to the monitoring data. When the adjustment cannot be fully met, any data deviation is larger than a set allowable value, an alarm prompt is sent out, and an operator checks and judges according to the alarm prompt information to determine whether the adjustment is further carried out or whether the current trimming requirement is met is confirmed. The data information can be observed on the jacking balancing interface of the cab display screen, and the jacking oil cylinder is allowed to act by confirming that the balancing button enters a jacking working mode. The method is convenient and quick, has strong adaptability, is rich in detection method and clear in prompt, and can well guide operators to carry out trimming operation.
The equipment used in the automatic balancing control method for the jacking of the tower crane mainly comprises a PLC (programmable logic controller), a display screen, a lifting pin shaft sensor, an amplitude encoder, an inclination angle sensor, a sleeve frame pin shaft sensor, software, an algorithm and the like. The invention can hoist and load any load with proper weight; according to the required balancing moment, the current load amplitude is automatically adjusted; monitoring data of the inclination sensor and the pin shaft sensor in real time, and automatically adjusting amplitude according to data deviation; if the current moment deviation, the inclination angle and the pin shaft sensor deviation are larger than the allowable values, an alarm prompt is sent out; the operator checks and judges according to the prompt information and finally decides whether to continue the adjustment or whether the current requirement is met; the operator clicks the trimming button to enter the jacking working mode, and the jacking cylinder is allowed to act.
In one embodiment, a tower crane is provided, and a device for executing the automatic balancing control method for jacking the instrument tower crane is arranged on the tower crane.
In one embodiment, a computer device is provided that includes a memory and a processor, where the memory stores computer readable instructions that, when executed by the processor, cause the processor to perform the steps of the tower crane jacking automatic trim control method described above.
In one embodiment, a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the tower lift automatic trim control method described above is presented.
Based on the description of the control method, reference is made to the description of the same or similar parts as before, and will not be repeated here.
The invention provides a tower crane jacking automatic balancing control method, which automatically adjusts the load amplitude according to the required balancing moment and the current load capacity. The current trimming state is detected through various methods such as current moment deviation, inclination angle, pin shaft sensor deviation and the like. And automatically adjusting the load amplitude according to the data deviation result. And when the automatic adjustment cannot meet the requirement, an alarm prompt is sent out to guide an operator to check and judge. The operator clicks the trimming confirming button and then enters the jacking working mode to allow the jacking oil cylinder to act.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The automatic balancing control method for the jacking of the tower crane is characterized by comprising the following steps of:
lifting a proper load according to the current model, arm length and weight state;
the jacking balancing moment is selected through the lifted load;
according to the required balancing moment and the current load capacity, automatically adjusting the load amplitude;
monitoring whether the current weight amplitude parameter is within an allowable range in real time;
if the current weight amplitude parameter is larger than the set allowable value, an alarm is sent out, and an operator reports according to the alarm
The warning prompt information is checked and judged to determine whether the weight amplitude parameter is further adjusted or whether the balancing requirement is met currently;
and when the balancing requirement is met, entering a jacking working mode, and allowing the jacking oil cylinder to act.
2. The method for automatic balancing of a tower crane jacking according to claim 1, wherein the weight amplitude parameter comprises: current moment, angle of inclination and pin offset.
3. The automatic balancing control method for jacking of the tower crane according to claim 2, wherein the current moment, the inclination angle and the pin deviation are obtained by respectively installing a sleeve frame pin sensor and a lifting pin sensor at the joint of a moment sensor, an inclination angle sensor installed at the top of the tower crane and a sleeve frame and a lower support.
4. The method for automatically balancing the jacking of the tower crane according to claim 2, wherein the monitoring in real time whether the current weight amplitude parameter is within the allowable range specifically comprises:
firstly, monitoring whether the deviation between the current moment and the trimming moment is in an allowable range or not;
and on the basis that the current moment meets the allowable range, monitoring and judging whether the inclination angle and the pin shaft deviation are in the allowable range or not.
5. The method for automatic balancing of a tower crane jacking according to claim 4, wherein the current position is
Entering a jacking working mode when the balancing requirement is met, and allowing the jacking oil cylinder to act, wherein the jacking oil cylinder specifically comprises the following components: and (3) observing weight amplitude parameter information at a jacking balancing interface of a cab display screen, and allowing the jacking oil cylinder to act by confirming that a balancing button enters a jacking working mode.
6. A tower crane, characterized in that the tower crane is provided with a device for executing the automatic balancing control method for jacking the tower crane according to any one of claims 1-5.
7. A computer device comprising a memory and a processor, wherein the memory has stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the tower lift automatic trim control method of any of claims 1 to 5.
8. A storage medium storing computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the tower lift automatic trim control method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310352522.7A CN116281687A (en) | 2023-04-04 | 2023-04-04 | Automatic balancing control method for tower crane jacking and tower crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310352522.7A CN116281687A (en) | 2023-04-04 | 2023-04-04 | Automatic balancing control method for tower crane jacking and tower crane |
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| CN116281687A true CN116281687A (en) | 2023-06-23 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104045010A (en) * | 2014-06-10 | 2014-09-17 | 三峡大学 | Tower crane jacking and balancing monitoring system, method and device |
| CN105253775A (en) * | 2015-10-26 | 2016-01-20 | 中联重科股份有限公司 | Tower crane jacking trim control system, method and device and tower crane |
| CN115010014A (en) * | 2022-05-12 | 2022-09-06 | 北京建筑大学 | Tower crane intelligent jacking monitoring control method and system based on ROS platform |
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2023
- 2023-04-04 CN CN202310352522.7A patent/CN116281687A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104045010A (en) * | 2014-06-10 | 2014-09-17 | 三峡大学 | Tower crane jacking and balancing monitoring system, method and device |
| CN105253775A (en) * | 2015-10-26 | 2016-01-20 | 中联重科股份有限公司 | Tower crane jacking trim control system, method and device and tower crane |
| CN115010014A (en) * | 2022-05-12 | 2022-09-06 | 北京建筑大学 | Tower crane intelligent jacking monitoring control method and system based on ROS platform |
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